cmake_minimum_required(VERSION 2.8.3)
project(mbf_costmap_nav)

find_package(catkin REQUIRED
        COMPONENTS
        costmap_2d
        dynamic_reconfigure
        geometry_msgs
        mbf_abstract_nav
        mbf_costmap_core
        mbf_msgs
        mbf_utility
        nav_core
        nav_msgs
        roscpp
        std_msgs
        std_srvs
        tf
        )

find_package(Boost COMPONENTS thread chrono REQUIRED)

# dynamic reconfigure
generate_dynamic_reconfigure_options(
        cfg/MoveBaseFlex.cfg
)

set(MBF_NAV_CORE_WRAPPER_LIB mbf_nav_core_wrapper)
set(MBF_COSTMAP_2D_SERVER_LIB mbf_costmap_server)
set(MBF_COSTMAP_2D_SERVER_NODE mbf_costmap_nav)

catkin_package(
        INCLUDE_DIRS include
        LIBRARIES ${MBF_COSTMAP_2D_SERVER_LIB}
        CATKIN_DEPENDS
        actionlib
        actionlib_msgs
        costmap_2d
        dynamic_reconfigure
        geometry_msgs
        mbf_abstract_nav
        mbf_costmap_core
        mbf_msgs
        mbf_utility
        nav_core
        nav_msgs
        pluginlib
        roscpp
        std_msgs
        std_srvs
        tf
        DEPENDS Boost
)

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${Boost_INCLUDE_DIRS}
)

add_library(${MBF_NAV_CORE_WRAPPER_LIB}
        src/nav_core_wrapper/wrapper_global_planner.cpp
        src/nav_core_wrapper/wrapper_local_planner.cpp
        src/nav_core_wrapper/wrapper_recovery_behavior.cpp
        )
add_dependencies(${MBF_NAV_CORE_WRAPPER_LIB} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${MBF_NAV_CORE_WRAPPER_LIB}
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        )

add_library(${MBF_COSTMAP_2D_SERVER_LIB}
        src/mbf_costmap_nav/costmap_navigation_server.cpp
        src/mbf_costmap_nav/costmap_planner_execution.cpp
        src/mbf_costmap_nav/costmap_controller_execution.cpp
        src/mbf_costmap_nav/costmap_wrapper.cpp
        src/mbf_costmap_nav/footprint_helper.cpp
        )
add_dependencies(${MBF_COSTMAP_2D_SERVER_LIB} ${catkin_EXPORTED_TARGETS})
add_dependencies(${MBF_COSTMAP_2D_SERVER_LIB} ${MBF_NAV_CORE_WRAPPER_LIB})
add_dependencies(${MBF_COSTMAP_2D_SERVER_LIB} ${PROJECT_NAME}_gencfg)

target_link_libraries(${MBF_COSTMAP_2D_SERVER_LIB}
        ${MBF_NAV_CORE_WRAPPER_LIB}
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        )

add_executable(${MBF_COSTMAP_2D_SERVER_NODE} src/move_base_server_node.cpp)
add_dependencies(${MBF_COSTMAP_2D_SERVER_NODE} ${MBF_COSTMAP_2D_SERVER_LIB})
target_link_libraries(${MBF_COSTMAP_2D_SERVER_NODE}
        ${MBF_COSTMAP_2D_SERVER_LIB}
        ${catkin_LIBRARIES}
        )

install(TARGETS
        ${MBF_NAV_CORE_WRAPPER_LIB} ${MBF_COSTMAP_2D_SERVER_LIB} ${MBF_COSTMAP_2D_SERVER_NODE}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
        )

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        )

catkin_install_python(PROGRAMS scripts/move_base_legacy_relay.py
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
        )
